基于PMAC的机器人控制器调试系统的研制

Development of Adjusting System of Robot Controller Based on PMAC

以工控机IPC与可编程多轴控制器PMAC(Programmable Multi-Axis Controller)相结合的开放式结构作为六自由度喷涂机器人控制系统硬件平台。用VisualC#.NET研制了六自由度喷涂机器人控制器调试系统。包括了速度及加速度参数设置,关节空间运动调试,直角坐标空间运动调试及I/O端口调试四个方面。通过实验验证,该调试系统能够对六自由度喷涂机器人控制器工作的实时性,可靠性,安全性等性能有一个总体的评估。

An open architecture based on PMAC （Programmable Multi-Axis Controller） was designed as hardware of 6-DOF painting robot control system. A controller adjusting system was developed by using Visual C#.NET, including the setting of parameters, the motion adjustment in joint space , the motion adjustment in orthogonal space and the adjustment of I/O ports. It is validated that the adjusting system can help us to get a holistic estimate of real-time, reliability and security of 6-DOF robot controller.